You should think about having an input variable rather than describing it as only -90 degrees in the description.
Easy to do, what's your reasoning?
Find the alphabetic word product
Is my wife right? Now with even more wrong husband
Figurate number triangle
Do you like your boss?
Relative points in 2D: problem 3
Create a 3D rotation matrix from roll-pitch-yaw angles
Composing relative poses in 2D: problem 1
Invert a 3D rotation matrix
Pose from bearing angles in 2D
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